US 12,213,744 B2
Path planning based on work volume mapping
Dany Junio, Tel Aviv-Jaffa (IL); and Moshe Shoham, Hoshaya (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Jul. 15, 2021, as Appl. No. 17/376,493.
Prior Publication US 2023/0020476 A1, Jan. 19, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 17/02 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/0218 (2013.01); A61B 34/30 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A method for planning a path comprising:
mapping a work volume and one or more no-fly zones, the work volume defining a volume which a robot may access and each of the one or more no-fly zones defining at least one volume which the robot is restricted from accessing;
receiving information about a position of at least one instrument;
receiving an image of an incision;
processing the image to determine dimensions of the incision based on the image;
calculating a void volume based on the position of the at least one instrument and the dimensions of the incision;
updating the work volume to include the void volume to yield an updated work volume; and
calculating a path for a robotic arm of the robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones,
wherein calculating the void volume is further based on known dimensions of the at least one instrument obtained from measurements of the at least one instrument received from a database.